Robust attitude tracking control for a quadrotor based on the uncertainty and disturbance estimator

Jiguo Dai, Qi Lu, Beibei Ren, Qing Chang Zhong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations

Abstract

In this paper, a robust control method based on the uncertainty and disturbance estimator (UDE) is developed to achieve the attitude tracking control for a quadrotor. To facilitate the control design, the coupled terms in the roll, pitch and yaw dynamics are lumped into the uncertainty term and the remained dynamics can be regarded as decoupled subsystems. As a result, for each subsystem, the lumped uncertainty term contains all the coupled terms, uncertainties and disturbances, then the UDE method is applied for the uncertainty compensation. Compared with the existing UDE control works, the introduced filtered tracking error dynamics simplifies the controller design and implementation. Furthermore, the stability analysis of the closed-loop system is established and experimental studies are carried out to illustrate the effectiveness of the developed control method.

Original languageEnglish
Title of host publicationAdaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2
Subtitle of host publicationHybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems
PublisherAmerican Society of Mechanical Engineers
ISBN (Electronic)9780791857243
DOIs
StatePublished - 2015
EventASME 2015 Dynamic Systems and Control Conference, DSCC 2015 - Columbus, United States
Duration: Oct 28 2015Oct 30 2015

Publication series

NameASME 2015 Dynamic Systems and Control Conference, DSCC 2015
Volume1

Conference

ConferenceASME 2015 Dynamic Systems and Control Conference, DSCC 2015
CountryUnited States
CityColumbus
Period10/28/1510/30/15

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    Dai, J., Lu, Q., Ren, B., & Zhong, Q. C. (2015). Robust attitude tracking control for a quadrotor based on the uncertainty and disturbance estimator. In Adaptive and Intelligent Systems Control; Advances in Control Design Methods; Advances in Non-Linear and Optimal Control; Advances in Robotics; Advances in Wind Energy Systems; Aerospace Applications; Aerospace Power Optimization; Assistive Robotics; Automotive 2: Hybrid Electric Vehicles; Automotive 3: Internal Combustion Engines; Automotive Engine Control; Battery Management; Bio Engineering Applications; Biomed and Neural Systems; Connected Vehicles; Control of Robotic Systems (ASME 2015 Dynamic Systems and Control Conference, DSCC 2015; Vol. 1). American Society of Mechanical Engineers. https://doi.org/10.1115/DSCC2015-9900